I've used a plastic scrapper and small ball-peen hammer (I'm starting to not do this after reading all the posts about broken glass).  I placed the scrapper at the base of a part then tapped it lightly to pop the part off.

I had to print an array of small disks (.3 inches by .07 inches tall), and the ball peen hammer approach caused them to fly all over the place.

So the next time I printed that array, I tried something else - a modification to my bed cleaning practice:

I use Elmer's Washable School Glue stick - it goes on purple and turns clear when dry, which helps a bit to tell me if I have complete coverage.  At the end of the print, after the bed is back to room temperature, if I have any trouble getting the parts to pop off just using my fingers, I wet a paper towel and drape it over the parts and the bed, and push it into the corners where the parts meet the bed. I let it sit for 2 min, then remove the parts.

I then place another wet paper towel over the print bed.  I have a 2.0 Duo, and a small sheet form a Brawny 'select a size' roll of paper towels is equal to the width of my print bed.  I let that sit for 2 min, and then wipe up the glue.  Anything that doesn't immediately come off, I rotate the ball of wet paper towel to bring a fresh face into contact with the bed and continue to wipe.  The cool thing is that the glue turns purple again when it gets wet, so that helps a lot in figuring out where to clean up.

Sometimes I'll use a wadded up dry paper towel at the end to get the glass to shine.

amazon.com/gp/product/B00MHXCQPK/ref=oh_aui_detailpage_o02_s00?ie=UTF8&psc=1

I found it difficult (impossible) to get it applied without bubbles under the surface, but besides that I am 100% satisfied with adhesion and removal.  Unless something happens in the future, I have no intention of ever using anything else.

Thanks in advance.